Welcome Randall!
If just testing if printing is working, I use the Book Listing, which is what the Epicor Cloud Team usually does when they test if printing is working. There’s no sensitive data on it and it runs quickly.
From PowerShell, I would use Invoke-Restmethod and POST to the Erp.RPT.GlBookReportSvc.SubmitToAgent method. Using REST will work on 10.2.500 and up. @jtownsend recently did a post from C# that shows the data structures required.
Since you’re also in Cybersecurity, you can use PowerShell’s Secret Management modules to not embed any credentials in your script.
There are REST guides up on EpicWeb with examples: